From c910761e96d0e9249832eff917ebc1c082d28165 Mon Sep 17 00:00:00 2001
From: Sai Kishor Kothakota <saisastra3@gmail.com>
Date: Wed, 4 Dec 2024 11:55:18 +0100
Subject: [PATCH] Apply suggestions from code review

Co-authored-by: Bence Magyar <bence.magyar.robotics@gmail.com>
---
 joint_limits/CMakeLists.txt                   | 4 ++--
 joint_limits/src/joint_saturation_limiter.cpp | 8 +++-----
 2 files changed, 5 insertions(+), 7 deletions(-)

diff --git a/joint_limits/CMakeLists.txt b/joint_limits/CMakeLists.txt
index f88e308b21..9729087e7f 100644
--- a/joint_limits/CMakeLists.txt
+++ b/joint_limits/CMakeLists.txt
@@ -108,7 +108,7 @@ if(BUILD_TESTING)
     rclcpp
   )
 
-  ament_add_gtest(test_joint_range_limiter test/test_joint_range_limiter.cpp)
+  ament_add_gmock(test_joint_range_limiter test/test_joint_range_limiter.cpp)
   target_include_directories(test_joint_range_limiter PRIVATE include)
   target_link_libraries(test_joint_range_limiter joint_limiter_interface)
   ament_target_dependencies(
@@ -117,7 +117,7 @@ if(BUILD_TESTING)
     rclcpp
   )
 
-  ament_add_gtest(test_joint_soft_limiter test/test_joint_soft_limiter.cpp)
+  ament_add_gmock(test_joint_soft_limiter test/test_joint_soft_limiter.cpp)
   target_include_directories(test_joint_soft_limiter PRIVATE include)
   target_link_libraries(test_joint_soft_limiter joint_limiter_interface)
   ament_target_dependencies(
diff --git a/joint_limits/src/joint_saturation_limiter.cpp b/joint_limits/src/joint_saturation_limiter.cpp
index 65d966ce5f..ad91793dac 100644
--- a/joint_limits/src/joint_saturation_limiter.cpp
+++ b/joint_limits/src/joint_saturation_limiter.cpp
@@ -433,10 +433,8 @@ bool JointSaturationLimiter<trajectory_msgs::msg::JointTrajectoryPoint>::on_enfo
 
 // typedefs are needed here to avoid issues with macro expansion. ref:
 // https://stackoverflow.com/a/8942986
-typedef std::map<int, int> int_map;
-typedef joint_limits::JointSaturationLimiter<trajectory_msgs::msg::JointTrajectoryPoint>
-  JointTrajectoryPointSaturationLimiter;
-typedef joint_limits::JointLimiterInterface<trajectory_msgs::msg::JointTrajectoryPoint>
-  JointTrajectoryPointLimiterInterfaceBase;
+using int_map = std::map<int, int>;
+using JointTrajectoryPointSaturationLimiter = joint_limits::JointSaturationLimiter<trajectory_msgs::msg::JointTrajectoryPoint>;
+using JointTrajectoryPointLimiterInterfaceBase = joint_limits::JointLimiterInterface<trajectory_msgs::msg::JointTrajectoryPoint>;
 PLUGINLIB_EXPORT_CLASS(
   JointTrajectoryPointSaturationLimiter, JointTrajectoryPointLimiterInterfaceBase)